CN110249205A - Method for positioning the higher vehicle of the degree of automation, for example supermatic vehicle (HAF) in digital positioning map - Google Patents
Method for positioning the higher vehicle of the degree of automation, for example supermatic vehicle (HAF) in digital positioning map Download PDFInfo
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- 238000004458 analytical method Methods 0.000 claims abstract description 28
- 230000003068 static effect Effects 0.000 claims abstract description 8
- 238000004590 computer program Methods 0.000 claims abstract description 5
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Automation & Control Theory (AREA)
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Abstract
The method that the present invention relates to one kind to position the higher vehicle of the degree of automation, especially increasingly automated vehicle (HAF) in digital positioning map, the described method comprises the following steps: S1 senses the feature of the semi-static object in the environment of HAF by least one first sensor；The feature of semi-static object and vehicle location are transferred to analysis assessment unit by S2；S3 classifies to half static object, wherein is result of the semi-static object assigned characteristics " semi-static " as the classification；S4 will be in the home environment model of the feature transfer of semi-static object to HAF, wherein examines when creating the home environment model: whether the terrestrial reference for being suitable for positioning HAF is blocked for the position of HAF and/or driving trace by semi-static object；The home environment model is transferred to HAF in the form of digital positioning map by S5, wherein the digital positioning map only include be suitable for positioning HAF, for the position of HAF and/or driving trace terrestrial reference those of is not blocked by semi-static object；HAF is positioned using the digital positioning map with S6.In addition, the present invention relates to a kind of corresponding system and a kind of computer programs.
Description
Technical field
The present invention relates to one kind for positioning the higher vehicle of the degree of automation, such as height in digital positioning map
The method and system of automated vehicle (HAF).
Background technique
Since vehicle the degree of automation improves, the driver assistance system to become increasingly complex is used.For such driving
Member's auxiliary system and function, such as increasingly automated driving or full-automatic driving, needing in the car largely can be accurately
Sense the sensor of vehicle environmental.It in order to which the degree of automation higher controls vehicle, such as needs reliably to identify runway, make
Vehicle can be guided in the runway identified by obtaining.In the following, " the degree of automation is higher " is interpreted as such the degree of automation,
Described the degree of automation is vertical corresponding to the automation with the system responsibility improved in the sense that Federal Highway mechanism (BASt)
To and transverse guidance, such as increasingly automated driving and full-automatic drive.
Furthermore it is known that according to different environmental sensors, such as radar sensor, video camera, traveling dynamic pass
Sensor, GPS (Global Positioning System: global positioning system) and numerical map can be constructed to vehicle periphery
The reproduction of environment, i.e., so-called environmental model, wherein for realizing compared to each data source higher precision and safety and more
The target of big field range has highest priority.Especially needed in terms of increasingly automated driving high system robustness and
System availability.Now for increasingly automated vehicle realize driver assistance system focus on improve detection precision,
Field range and raising safety.
It is disclosed in a variety of possibilities of positioning height automated vehicle (HAF) in numerical map in the prior art.Wherein
For example including following method: only transmitting requirement or density for sufficiently accurate positioning for HAF in the method
Terrestrial reference, allow to save by the data rate of the transmission from server to vehicle or can also reduce based in vehicle
It calculates complexity and accelerates runing time.However, being proved to be herein disadvantageously, terrestrial reference may also be blocked and therefore can not
It is perceived by HAF.This aspect causes unnecessary data to be transmitted and on the other hand leads to the positioning accuracy of possible difference, because
There is no enough information to can be used for matching." matching " is interpreted as the terrestrial reference that will identify that and is compared with the terrestrial reference being present in map
Compared with.But this is contradicted with for high security of system necessary to automation driving.
Summary of the invention
Therefore, the task of the present invention is provide a kind of for the positioning height automated vehicle in digital positioning map
(HAF) improved method.
The task is solved by the correspondence theme of independent claims.Advantageous configuration of the invention is each appurtenance
It is required that theme.
According to an aspect of the present invention, it provides a kind of higher for positioning the degree of automation in digital positioning map
Vehicle, especially increasingly automated vehicle (HAF) method, method includes the following steps:
S1 senses the feature of the semi-static object in HAF ambient enviroment by least one first sensor；
The feature of semi-static object and vehicle location are transferred to analysis assessment unit by S2；
S3 classifies to half static object, wherein is semi-static object assigned characteristics " semi-static " as the classification
As a result；
S4 will be in the home environment model of the feature transfer of semi-static object to HAF, wherein in creation home environment model
When examine: be suitable for position HAF terrestrial reference whether blocked by semi-static object for the position of HAF and/or driving trace；
Home environment model is transferred to HAF in the form of digital positioning map by S5, wherein digital positioning map is only
Comprising being suitable for terrestrial reference positioning HAF, not blocked by semi-static object for the position of HAF and/or driving trace；And
And
S6 positions HAF using digital positioning map.
Therefore, a kind of driver assistance system for increasingly automated vehicle, the driver are disclosed according to the present invention
Auxiliary system is by the environmental sensor detection terrestrial reference of vehicle interior for positioning vehicle.Further, classify to terrestrial reference
And it is when necessary terrestrial reference distributive property " semi-static ".The following information of vehicle can also be transferred to server in principle, must
Back-end server is transferred to when wanting: by the information, server can be to about introduced attribute " being blocked " or " can
See " hypothesis be updated.It is dispensed when home environment model is transferred to HAF in the form of digital positioning map
The terrestrial reference being blocked improves the robustness of positioning precision in other words, because the driver assistance system of HAF and HAF's is matched
The environmental sensor of category will not waste computing capability and time in this case to recognize after all sightless terrestrial reference and come
Match with more fully expected characteristics map.
It is arranged according to a kind of embodiment, the infrastructure sensor that at least one first sensor is fixed in position,
In, at least one infrastructure sensor is especially mounted on street lamp or optical signal equipment and/or at least one first sensor
It is mounted on HAF and/or at least one first sensor is mounted on another HAF.
It is arranged according to another embodiment, the feature of semi-static object includes at least one of following characteristics: profile,
Manage position, color, size, orientation in space, speed and/or acceleration mode.
Advantageously, divided by being associated with the control unit of at least one sensor and/or being realized by analysis assessment unit
Class step S3, and classifying step S3: the profile of semi-static object, geographical location, face is realized according at least to one of following characteristics
Color, size, orientation in space, speed and/or acceleration mode.
It is preferred that analysis assessment unit is mobile edge calculations server (Mobile Edge Computing-Server),
Wherein, mobile edge calculations server is especially fixed in position.
It is arranged according to a kind of advantageous embodiment, by the feature transfer of semi-static object to the step in home environment model
Rapid S4 includes the steps that double of static object carries out geographic reference (Georeferenzierung).
Especially cause following technological merit: double of static object of driver assistance system such as dustbin, vehicle of parking as a result,
Or trailer identified, classified and the profile of the semi-static object and geographical location are transferred to server.Then, it services
Device based on the track and available runway geometry crossed for sail come vehicle calculate: at present or future
Terrestrial reference in the environment of HAF, which whether there is, blocks possibility.
In a kind of advantageous configuration, the corresponding transmission in step S2, S5 is realized by a radio signal respectively
Method and step.
It is arranged in another embodiment, the step S6 that HAF is positioned using digital positioning map includes
At least one of the feature of semi-static object, and the control device use of HAF are perceived by the environmentally sensitive device of HAF
Method of completing the square, so that at least one feature perceived by environmentally sensitive device to be compared with the information of positioning map.
Another theme of the invention constitutes a kind of for positioning height automated vehicle (HAF) in digital positioning map
System, wherein the system includes at least one first sensor, which is provided for around sensing HAF
The feature of semi-static object in environment.In addition, the system includes communication interface, which is provided for will be semi-static
The feature of object is transferred to analysis assessment unit, wherein analysis assessment unit is provided for double of static object and classifies.
The classification includes attaching result of the feature " semi-static " as the classification for semi-static object.In addition, analysis assessment device setting
For in the home environment model by the feature transfer of semi-static object to HAF, wherein the home environment model includes to be suitble to
In the terrestrial reference of positioning HAF.Analysis assessment unit is provided for the inspection when creating home environment model, is suitable for positioning HAF
Road sign whether blocked by semi-static object for the position of HAF and/or driving trace.In addition, analysis assessment device is set
It is set to and is added to for only terrestrial reference those of will not blocked by semi-static object for the position of HAF and/or driving trace
In home environment model, wherein communication interface be also configured to for by home environment model in the form of digital positioning map
Send HAF to.In addition, the system includes the control device of HAF, wherein control device is provided for using digital constant
HAF is positioned in the case where the environmental sensor of position map and HAF.
Another theme of the invention is a kind of computer program, which includes for that ought implement on computers
The program code of the method for the present invention is executed when the computer program.
The technology for especially causing to improve robustness when positioning HAF precision in other words through the solution of the invention is excellent
Point, because reducing the data to be sent between server and vehicle in the case where temporarily blocking.Therefore, vehicle side both
It will not waste time and computing capability will not be wasted to detect after all sightless terrestrial reference and by the sightless terrestrial reference and more
Comprehensive characteristics map match/compare.
Another advantage is: can detect enough terrestrial references for match and can be mentioned in map in this way
For these terrestrial references.Furthermore, it is possible to which that seeks storing terrestrial reference on the server based on the feedback of vehicle blocks situation, thus make
Obtain the reliable location that can be realized again in numerical map to increasingly automated vehicle.
Although describing the present invention mainly in combination with passenger car below, the present invention is not limited to this, but can be by
Any kind of vehicle such as bogie (LKV) and/or passenger vehicle (PKW) utilize the present invention.
Other features, application possibility and advantage of the invention is by the subsequent of the embodiment of the present invention being shown in the accompanying drawings
Description obtains.It should be noted herein that shown feature only has description attribute, and can also be with other above-mentioned extension sides
The feature of case uses in combination, and is not intended to and limit the invention in any way.
Detailed description of the invention
In the following, elaborating the present invention according to preferred embodiment, wherein use identical attached drawing mark for identical feature
Note.Attached drawing is schematical and shows:
The top view of situation in Fig. 1 road traffic, using for positioning height automated vehicle (HAF) in the situation
The method of the present invention；With
A kind of flow chart of the embodiment of Fig. 2 the method for the present invention.
Specific embodiment
Fig. 1 shows a kind of transport node 10, in the transport node, be respectively provided with two runways 110,120,111,
121 two road segments 100,101 intersect with each other, and the runway can be automated the higher vehicle of degree, especially high
Automated vehicle (HAF) 200 is spent to travel.In addition, being adjusted at transport node 10 by optical signal equipment 150,151,152,153
Traffic.In addition, there are the first corners of building 180 and the second corners of building 190 in the environment of transport node 10.At this
It is believed that optical signal equipment 150,151,152,153,170 energy of corners of building 180,190 and stop line in exemplary scope
Enough provide in the form of geographic reference and as permanent terrestrial reference for creating Digital Environment Model.
It means that for example by corners of building 180 for determination feature needed for identifying corners of building 180 and
Position of the corners of building in suitable coordinate system stores in digital form and in order to create the environmental model for HAF
In data storage.In order to which feature needed for identifying corners of building for example can be the position of the corners of building, adjoining
Wall size or color, the corners of building extension scale etc. along the vertical direction.Data storage for example can be this
The analysis assessment unit 300 on ground for example moves edge calculations server or unshowned remote server.In the implementation
Think in the range of example, which is a part of local analysis assessment unit 300.
By optical signal equipment 150,151,152,153, corners of building 180,190 and stop line 170 as muchly
Mark using comprising: can be by their position and in order to identify that the feature needed for them is transferred to HAF.Obtaining corresponding information
Later, the driver assistance system of HAF can for example be imaged using so-called matching process and corresponding vehicle-mounted sensing device
Permanent terrestrial reference is found out in the case where machine and is used to position in numerical map relative to the position of HAF using the permanent terrestrial reference
HAF。
In addition, Fig. 1 shows the first object 400 and the second object 410.First object 400 for example can be for road
The builder's temporary shed (Baucontainer) of construction temporarily placed, and the display board that the second object 410 is e.g. temporarily holded up.It is registering
(Anmeldung) in scope, the first object 400 and the second object 410 are known as semi-static object, although because they about
It is not movable for the moment that HAF200 is crossed, but will not so rests on for a long time on their position, so that
First object and the second object are suitable as permanent terrestrial reference.
As in Fig. 1 it can be seen that, the first object 400 blocks optical signal equipment 152 for HAF200, and the
Two objects 410 block the first corners of building 180 for HAF200, so that the environmental sensor of HAF200 for example images
Machine can not be found out is suitable as muchly target optical signal equipment 152 and corners of building 180 in principle.Therefore, by light
It the position of signalling arrangement 152 and corners of building 180 and is only meaned in order to which feature needed for identifying the position sends HAF200 to
Analysis assessment unit 300 and HAF200 between unnecessary data exchange and mean entirely hopeless from the beginning
Attempt to identify the driving in the case of optical signal equipment 152 and corners of building 180 in the environment of HAF200 to HAF200 in ground
The sensor power of member's auxiliary system and the waste for calculating power.
In order to avoid such case, in the first step of the method for the present invention, sensed by least one first sensor
The feature of semi-static object 400,410 in the ambient enviroment of HAF200, referring to fig. 2.Here, the first sensor can be
Such as position is fixedly installed at the infrastructure sensor on street lamp or optical signal equipment, or is also possible to be mounted on
Sensor on HAF200 or another HAF itself, such as the environment video of HAF.
The feature of semi-static object 400,410 can be one or more of following characteristics: what is sensed is semi-static right
As 400,410 profile, geographical location, color, size, orientation in space, speed and/or acceleration mode.
In step s 2, the feature of semi-static object 400,410 sensed and vehicle location are transferred to analysis and commented
Estimate unit 300.Here, it is preferred that transmitted by radio signal, therefore not only analyze assessment unit 300 but also the first sensing
Device has corresponding communication interface.
The step S3 being shown in FIG. 2 includes the classification of double of static object 400,410, wherein is commented accordingly existing
Sentence and feature " semi-static " is attached to result of the semi-static object 400,410 as the classification in the case where criterion.Here, following
One or more of feature for example may be used as the judge criterion for by the object classification recorded being " semi-static ": half is quiet
Profile, geographical location, color, size, orientation in space, speed and/or the acceleration mode of state object 400,410.
The classification both can be also transferred to by the feature of semi-static object 400,410 sensed and vehicle location
Analysis assessment unit 300 is carried out by being associated with the control unit of at least one sensor before and/or can be in the analysis
The feature of semi-static object 400,410 has been received in assessment unit and vehicle location passes through analysis assessment unit 300 later
Come carry out.
In step s 4, by the feature transfer of semi-static object 400,410 into the home environment model of HAF200,
In, it is examined when creating home environment model, is suitable for positioning position and/or driving trace of the terrestrial reference of HAF about HAF200
For whether blocked by semi-static object 400,410.In the example of fig. 4, the first object 400 and the second object 410 are divided
Class is semi-static object.It is determined when creating home environment model and the adjoint creation by analysis assessment unit 300 to examine,
First object 400 blocks optical signal equipment 152 relative to HAF200, and the second object 410 blocks first relative to HAF200 builds
Build object turning 180.
It herein preferably, include pair by the feature transfer of semi-static object 400,410 to the step S4 in home environment model
Semi-static object 400,410 carries out the step of geographic reference.
Therefore, the home environment model for being transferred to HAF200 in the form of digital positioning map in step s 5 only includes
Angle 190 and stop line are built about the information of optical signal equipment 150,151,153 and about as muchly target second
170 information, because they are not blocked by semi-static object 400,410 for the position of HAF200 and driving trace.
Then in step s 6, pass through the driver assistance system of HAF200 using digital positioning map
Position HAF200, wherein the permanent terrestrial reference transmitted is not used only and uses other location informations, such as uses global location
System (GPS).
In order to recognize permanent terrestrial reference, the step 6 of positioning HAF200 is preferred herein using digital positioning map
As described above include: at least one of the feature of semi-static object 400,410 is perceived by the environmentally sensitive device of HAF200, and
And the driver assistance system or control device of HAF200 uses matching process, to be perceived by environmentally sensitive device
At least one feature is compared with the information of positioning map.
As from content would know that above, Fig. 1 is also showed that a kind of is for position HAF200 in digital positioning figure
System, wherein the system includes:
At least one first sensor, wherein at least one described first sensor is provided for sensing HAF200
Ambient enviroment in semi-static object 400,410 feature；
Communication interface is provided for the feature of semi-static object 400,410 being transferred to analysis assessment unit
300, wherein analysis assessment unit 300 is provided for,
Double of static object 400,410 is classified, wherein the classification includes that feature " semi-static " is attached to half is quiet
Result of the state object 400,410 as the classification；And assessment unit 300 is analyzed to be also configured to be used for,
By the feature transfer of semi-static object 400,410 into the home environment model of HAF200, wherein home environment
Model includes the terrestrial reference for being suitable for positioning HAF200, wherein analysis assessment unit 300 is provided in creation home environment mould
It is examined when type, whether the terrestrial reference for being suitable for positioning HAF200 is semi-static for the position of HAF200 and/or driving trace
Object 400,410 blocks, and analyze assessment unit 300 be provided for only will about the position of HAF200 and/or traveling rail
It those of does not block terrestrial reference by semi-static object 400,410 for mark to be added in home environment model, wherein the communication interface
It is also configured to for home environment model to be transferred to HAF200 in the form of digital positioning map；With
The driver assistance system or control device of HAF200, the control device be provided for it is digital positioningly
HAF200 is positioned in the case where the environmental sensor of figure and HAF200.
The present invention is not limited to described and illustrated embodiment.But the present invention is also included within and is limited by Patent right requirement
All expansion schemes that can be realized by those skilled in the art in fixed the scope of the present invention.
Other than described and reflection embodiment, other embodiment can also be proposed, they may include institute
State the other variant schemes and combination of feature.
Claims (10)
1. one kind in digital positioning map for positioning the higher vehicle of the degree of automation, especially increasingly automated vehicle
(HAF) method of (200,201), comprising steps of
S1 senses the semi-static object in the ambient enviroment of the HAF (200,201) by least one first sensor
The feature of (400,410)；
The feature of the semi-static object (400,410) and vehicle location are transferred to analysis assessment unit (300) by S2；
S3 classifies to the semi-static object (400,410), wherein special for semi-static object (400, the 410) distribution
Levy the result of " semi-static " as the classification；
S4 by the feature transfer of the semi-static object (400,410) into the home environment model of the HAF (200,201),
Wherein, it is examined when creating the home environment model: being suitable for positioning the terrestrial reference of the HAF (200,201) about the HAF
Whether blocked by the semi-static object (400,410) for the position of (200,201) and/or driving trace；
The home environment model is transferred to the HAF (200,201) by S5 in the form of digital positioning map, wherein institute
It states digital positioning map only and includes and be suitable for positioning the HAF (200,201), position about (200,201) the HAF
And/or terrestrial reference those of is not blocked by the semi-static object (400,410) for driving trace；And
S6 positions the HAF (200,201) using the digital positioning map.
2. the method according to claim 1, wherein the base that at least one described first sensor is fixed in position
Infrastructure sensor, wherein at least one described infrastructure sensor be especially mounted on street lamp or optical signal equipment (150,
151,152,153) on and/or at least one described first sensor be mounted on it is on the HAF (200,201) and/or described
At least one first sensor is mounted on another HAF (200,201).
3. method according to any one of the preceding claims, which is characterized in that the semi-static object (400,410)
Feature includes at least one of following characteristics: profile, geographical location, color, size, orientation in space, speed and/or
Acceleration mode.
4. method according to any one of the preceding claims, which is characterized in that (S3) is by matching the step of the classification
Belong to the control unit of at least one sensor and/or is carried out by the analysis assessment unit (300), and the classification
Step (S3) is according at least to one in following characteristics progress: the profile of the semi-static object (400,410), geographical location,
Color, size, orientation in space, speed and/or acceleration mode.
5. method according to any one of the preceding claims, which is characterized in that the analysis assessment unit (300) is to move
Dynamic edge calculations server, wherein what the mobile edge calculations server was especially fixed in position.
6. method according to any one of the preceding claims, which is characterized in that by the semi-static object (400,410)
The step (S4) of the feature transfer into home environment model include the semi-static object (400,410) is carried out it is geographical
The step of benchmark.
7. method according to any one of the preceding claims, which is characterized in that pass through a radio signal reality respectively
The corresponding method step of the transfer in the existing step (S2, S5).
8. method according to any one of the preceding claims, which is characterized in that using the digital positioning map
In the case where the step of positioning (200,201) the HAF (S6) include: environmentally sensitive device by the HAF (200,201)
At least one of the feature of the semi-static object (400,410) is perceived, and the driver of the HAF (200,201) is auxiliary
Auxiliary system or control device use matching process, so as at least one feature for will being perceived by the environmentally sensitive device with
The information of positioning map is compared.
9. system of the one kind for the positioning height automated vehicle (HAF) (200,201) in digital positioning map, comprising:
At least one first sensor, wherein at least one described first sensor is provided for sensing the HAF
The feature of semi-static object (400,410) in the ambient enviroment of (200,201)；
Communication interface is provided for the feature of the semi-static object (400,410) being transferred to analysis assessment unit
(300), wherein the analysis assessment unit (300) is provided for,
Classify to the semi-static object (400,410), wherein the classification includes being attached to feature " semi-static "
Result of the semi-static object (400,410) as the classification；And the analysis assessment unit is also configured to for inciting somebody to action
The feature transfer of the semi-static object (400,410) is into the home environment model of the HAF (200,201), wherein described
Home environment model includes the terrestrial reference for being suitable for positioning (200,201) the HAF, wherein the analysis assessment unit is set as
For examining when creating the home environment model, it is suitable for positioning the terrestrial reference of the HAF (200,201) about the HAF
Whether blocked by the semi-static object (400,410) for the position of (200,201) and/or driving trace, and described point
Analysis assessment unit is provided for only will be for the position of the HAF (200,201) and/or driving trace not by described half
Static object (400,410) those of blocks terrestrial reference and is added in the home environment model, wherein the communication interface is also set
It is set to for the home environment model to be transferred to the HAF (200,201) in the form of digital positioning map；With
The driver assistance system or control device of the HAF (200,201), the control device are provided for using
Positioned in the case where the environmental sensor of the digital positioning map and the HAF (200,201) HAF (200,
201)。
10. a kind of computer program comprising for executing when implementing the computer program on computers according to right
It is required that the program code of method described in any one of 1 to 8.
Applications Claiming Priority (3)
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| DE102017201663.9 | 2017-02-02 | ||
| DE102017201663.9A DE102017201663A1 (en) | 2017-02-02 | 2017-02-02 | Method for locating a higher automated, e.g. highly automated vehicle (HAF) in a digital localization map |
| PCT/EP2017/082432 WO2018141447A1 (en) | 2017-02-02 | 2017-12-12 | Method for localising a more highly automated, e.g. highly automated vehicle (hav) in a digital localisation map |
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| CN110249205A true CN110249205A (en) | 2019-09-17 |
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| CN201780085473.8A Pending CN110249205A (en) | 2017-02-02 | 2017-12-12 | Method for positioning the higher vehicle of the degree of automation, for example supermatic vehicle (HAF) in digital positioning map |
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| US (1) | US11120281B2 (en) |
| EP (1) | EP3577419A1 (en) |
| JP (1) | JP6910452B2 (en) |
| CN (1) | CN110249205A (en) |
| DE (1) | DE102017201663A1 (en) |
| WO (1) | WO2018141447A1 (en) |
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| JP7074438B2 (en) * | 2017-09-05 | 2022-05-24 | トヨタ自動車株式会社 | Vehicle position estimation device |
| DE102018209607A1 (en) * | 2018-06-14 | 2019-12-19 | Volkswagen Aktiengesellschaft | Method and device for determining a position of a motor vehicle |
| US10698408B2 (en) * | 2018-08-30 | 2020-06-30 | Pony Ai Inc. | Distributed sensing for vehicle navigation |
| DE102019124252A1 (en) * | 2019-09-10 | 2021-03-11 | Bayerische Motoren Werke Aktiengesellschaft | Method for operating a vehicle, vehicle, computer program and computer-readable storage medium |
| US20210200237A1 (en) * | 2019-12-31 | 2021-07-01 | Lyft, Inc. | Feature coverage analysis |
| DE102020107108A1 (en) * | 2020-03-16 | 2021-09-16 | Kopernikus Automotive GmbH | Method and system for autonomous driving of a vehicle |
| DE102020209875A1 (en) | 2020-08-05 | 2022-02-10 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for localizing a highly automated vehicle in a digital localization map and landmark for localizing a highly automated vehicle in a digital localization map |
| DE102021126288A1 (en) | 2021-10-11 | 2023-04-13 | Cariad Se | Method and device for determining a vehicle's own position |
| DE102022203261A1 (en) | 2022-04-01 | 2023-10-05 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for predicting the availability of a feature-based localization of a vehicle and method for controlling a vehicle |
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- 2017-12-12 EP EP17822212.1A patent/EP3577419A1/en not_active Ceased
- 2017-12-12 US US16/480,231 patent/US11120281B2/en active Active
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Also Published As
| Publication number | Publication date |
|---|---|
| US11120281B2 (en) | 2021-09-14 |
| US20200005058A1 (en) | 2020-01-02 |
| JP6910452B2 (en) | 2021-07-28 |
| DE102017201663A1 (en) | 2018-08-02 |
| EP3577419A1 (en) | 2019-12-11 |
| WO2018141447A1 (en) | 2018-08-09 |
| JP2020506387A (en) | 2020-02-27 |
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